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Yes, you'll have to pull the door panel off to check on the regulator and the switch. There is also an excess panel under there with some screws that you'll likely have to pull off to get a good view.
If you carefully peel back the vapor barrier and not tear it, you can reuse the plastic barrier.
For lube, use a good quality multipurpose (MP) grease. There are 5 points you want to check and hit - two are on the bottom rail, one on the center pivot point, one on the upper rail, and the "gears/teeth" all the way at the top.
Switch at the junkyard would be the best bet - I would test the one you have first, as the switch could be fine - could be a wiring issue instead. No sense replacing something that is working just fine.
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2002 Corolla S, 1.8L 1ZZ-FE VVT-i
2003 Matrix XRS, 1.8L 2ZZ-GE, VVTL-i (RIP)
2009 Matrix XRS, 2.4L 2AZ-FE VVT-i
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